v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/thirdparty/Pangolin/examples/SimpleMultiDisplay/main.cpp
+++ b/thirdparty/Pangolin/examples/SimpleMultiDisplay/main.cpp
@@ -0,0 +1,106 @@
+#include <iostream>
+#include <pangolin/pangolin.h>
+
+void setImageData(unsigned char * imageArray, int size){
+  for(int i = 0 ; i < size;i++) {
+    imageArray[i] = (unsigned char)(rand()/(RAND_MAX/255.0));
+  }
+}
+
+int main(/*int argc, char* argv[]*/)
+{
+  // Create OpenGL window in single line
+  pangolin::CreateWindowAndBind("Main",640,480);
+  
+  // 3D Mouse handler requires depth testing to be enabled
+  glEnable(GL_DEPTH_TEST);  
+
+  // Issue specific OpenGl we might need
+  glEnable (GL_BLEND);
+  glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+  // Define Camera Render Object (for view / scene browsing)
+  pangolin::OpenGlMatrix proj = pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000);
+  pangolin::OpenGlRenderState s_cam(proj, pangolin::ModelViewLookAt(1,0.5,-2,0,0,0, pangolin::AxisY) );
+  pangolin::OpenGlRenderState s_cam2(proj, pangolin::ModelViewLookAt(0,0,-2,0,0,0, pangolin::AxisY) );
+
+  // Add named OpenGL viewport to window and provide 3D Handler
+  pangolin::View& d_cam1 = pangolin::Display("cam1")
+    .SetAspect(640.0f/480.0f)
+    .SetHandler(new pangolin::Handler3D(s_cam));
+
+  pangolin::View& d_cam2 = pangolin::Display("cam2")
+    .SetAspect(640.0f/480.0f)
+    .SetHandler(new pangolin::Handler3D(s_cam2));
+
+  pangolin::View& d_cam3 = pangolin::Display("cam3")
+    .SetAspect(640.0f/480.0f)
+    .SetHandler(new pangolin::Handler3D(s_cam));
+
+  pangolin::View& d_cam4 = pangolin::Display("cam4")
+    .SetAspect(640.0f/480.0f)
+    .SetHandler(new pangolin::Handler3D(s_cam2));
+
+  pangolin::View& d_img1 = pangolin::Display("img1")
+    .SetAspect(640.0f/480.0f);
+
+  pangolin::View& d_img2 = pangolin::Display("img2")
+    .SetAspect(640.0f/480.0f);
+
+  // LayoutEqual is an EXPERIMENTAL feature - it requires that all sub-displays
+  // share the same aspect ratio, placing them in a raster fasion in the
+  // viewport so as to maximise display size.
+  pangolin::Display("multi")
+      .SetBounds(0.0, 1.0, 0.0, 1.0)
+      .SetLayout(pangolin::LayoutEqual)
+      .AddDisplay(d_cam1)
+      .AddDisplay(d_img1)
+      .AddDisplay(d_cam2)
+      .AddDisplay(d_img2)
+      .AddDisplay(d_cam3)
+      .AddDisplay(d_cam4);
+
+  const int width =  64;
+  const int height = 48;
+  unsigned char* imageArray = new unsigned char[3*width*height];
+  pangolin::GlTexture imageTexture(width,height,GL_RGB,false,0,GL_RGB,GL_UNSIGNED_BYTE);
+
+  // Default hooks for exiting (Esc) and fullscreen (tab).
+  while( !pangolin::ShouldQuit() )
+  {
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    // Generate random image and place in texture memory for display
+    setImageData(imageArray,3*width*height);
+    imageTexture.Upload(imageArray,GL_RGB,GL_UNSIGNED_BYTE);
+
+    glColor3f(1.0,1.0,1.0);
+
+    d_cam1.Activate(s_cam);
+    pangolin::glDrawColouredCube();
+
+    d_cam2.Activate(s_cam2);
+    pangolin::glDrawColouredCube();
+
+    d_cam3.Activate(s_cam);
+    pangolin::glDrawColouredCube();
+
+    d_cam4.Activate(s_cam2);
+    pangolin::glDrawColouredCube();
+
+    d_img1.Activate();
+    glColor4f(1.0f,1.0f,1.0f,1.0f);
+    imageTexture.RenderToViewport();
+
+    d_img2.Activate();
+    glColor4f(1.0f,1.0f,1.0f,1.0f);
+    imageTexture.RenderToViewport();
+
+    // Swap frames and Process Events
+    pangolin::FinishFrame();
+  }
+
+  delete[] imageArray;
+
+  return 0;
+}